Merge branch 'main' of github.com:97hackbrian/embedded-labs

97hackbrian · Nov 16, 2023 · c994220 · c994220
2 parents 0e404c2 + a5992bd
commit c994220
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Showing 3 changed files with 36 additions and 38 deletions.
diff --git a/Raspberry/Lab9/ej7.py b/Raspberry/Lab9/ej7.py
@@ -31,9 +31,9 @@
     lower_green = np.array([0, 0, 0])
     upper_green = np.array([0, 0, 0])
     lower_red1 = np.array([0, 50, 50])
-    upper_red1 = np.array([10, 150, 255])
-    lower_red2 = np.array([160, 50, 50])
-    upper_red2 = np.array([180, 150, 255])
+    upper_red1 = np.array([10, 255, 255])
+    lower_red2 = np.array([0, 50, 0])###
+    upper_red2 = np.array([10, 255, 255])
 
     # Create masks for the colors
     mask_blue = cv2.inRange(frame_hsv, lower_blue, upper_blue)
@@ -49,40 +49,38 @@
 
     # Find contours in the combined mask
     contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
-
-    for cnt in contours:
-        # Calculate area and remove small elements
-        area = cv2.contourArea(cnt)
-        if len(cnt)>=2:
-            Leds.write(1,1,0,0)
-            sleep(0.5)
-            Leds.write(0,0,1,1)
-            sleep(0.5)
-            motors.stop()
-
-        if area > 1000:
-            if len(cnt)>=2:
-                Leds.write(1,1,0,0)
-                sleep(0.5)
-                Leds.write(0,0,1,1)
-                sleep(0.5)
-                motors.stop()
-
-            else:
-                x, y, w, h = cv2.boundingRect(cnt)
-                center_x = x + w // 2
+    print(len(contours))
+    if len(contours)>=25:
+        for cnt in contours:
+            # Calculate area and remove small elements
+            area = cv2.contourArea(cnt)
+
+
+            if area > 10000:
+                print("cnt ",len(cnt))
+                if len(cnt)>=2000:
+                    Leds.write(1,1,0,0)
+                    sleep(0.01)
+                    Leds.write(0,0,1,1)
+                    sleep(0.01)
+                    motors.stop()
 
-                if center_x > 420:
-                    print("derecha")
-                    motors.move(70, -70)
-                elif center_x < 210:
-                    print("izquierda")
-                    motors.move(-84, 84)
                 else:
-                    print("centro")
-                    motors.stop()
-    if len(contours)==0:
-        motors.move(-70, 75)
+                    x, y, w, h = cv2.boundingRect(cnt)
+                    center_x = x + w // 2
+
+                    if center_x > 420:
+                        print("derecha")
+                        motors.move(70, -70)
+                    elif center_x < 210:
+                        print("izquierda")
+                        motors.move(-84, 84)
+                    else:
+                        print("centro")
+                        motors.stop()
+    else:
+        print("AQUI!!!!!!!!!!")
+        motors.move(-75, 75)
 
     cv2.imshow("Frame", frame)
     cv2.imshow("Mask", mask)

diff --git a/Raspberry/lab8/ej6.py b/Raspberry/lab8/ej6.py
@@ -3,4 +3,4 @@
 
 if __name__ == "__main__":
     camara=Camara(0)
-    camara.videoCanny(img,0,130,3,3)
+    camara.videoCanny(img,0,130,7,7)
diff --git a/tankbot/scr/ex2P2.py b/tankbot/scr/ex2P2.py
@@ -112,7 +112,7 @@ def FocalLength(measured_distance, real_width, width_in_rf_image):
                 #dir=FocalLength(ra,10,10)
                 if area<=50000:
 
-                    motors.move(70,70)
+                    motors.move(60,60)
                     print("avanzar!")
                 else:
                     motors.stop()
@@ -134,4 +134,4 @@ def FocalLength(measured_distance, real_width, width_in_rf_image):
         break
 
 cap.release()
-cv2.destroyAllWindows()
+cv2.destroyAllWindows()